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Add Leap point cloud field socket

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This commit is contained in:
Meta Vens 2026-05-30 22:54:59 +01:00
commit 4fadcfff14
9 changed files with 494 additions and 73 deletions
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94
src/Mimir.BufferSmoke/Program.cs
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@ -155,6 +155,11 @@ if (args.Any(arg => string.Equals(arg, "--leap-packed-stereo-depth-smoke", Strin
return RunLeapPackedStereoDepthSmoke();
}
if (args.Any(arg => string.Equals(arg, "--leap-point-cloud-root-smoke", StringComparison.OrdinalIgnoreCase)))
{
return RunLeapPointCloudRootSmoke();
}
if (args.Any(arg => string.Equals(arg, "--ks-camera-driver-smoke", StringComparison.OrdinalIgnoreCase)))
{
return RunKsCameraDriverSmoke(args);
@ -2536,6 +2541,95 @@ static int RunLeapPackedStereoDepthSmoke()
: 1;
}
static int RunLeapPointCloudRootSmoke()
{
const string sourceId = "leap-stereo-ir";
var frameDescriptor = new MimirVideoFrameDescriptor(
Width: 640,
Height: 240,
PixelFormat: MimirVideoPixelFormat.LeapStereoIr,
StrideBytes: 1280,
DeviceTimestampNs: 1_000_000_000L,
NativeHandle: 0xCAFE,
NativeHandleKind: "fensalir-owned-d3d12-texture2d",
ResourceKey: MimirFensalirTextureLeaseClient.ResourceKeyForSource(sourceId),
ProducerFenceHandle: 0xD00D,
ProducerFenceValue: 7);
var sample = new MimirStreamSample(
sourceId,
MimirStreamKind.Video,
MimirStreamOrigin.LocalDevice,
TimestampNs: frameDescriptor.DeviceTimestampNs,
ArrivalNs: frameDescriptor.DeviceTimestampNs,
Sequence: 7,
PayloadHandle: frameDescriptor.NativeHandle,
ByteLength: 0,
VideoFrame: frameDescriptor);
var buffer = new MimirRollingStreamBuffer(
new MimirStreamDescriptor(sourceId, MimirStreamKind.Video, MimirStreamOrigin.LocalDevice),
TimeSpan.FromSeconds(5));
buffer.Append(sample);
var lowerer = new MimirFensalirFieldLowering();
var cameraFrame = lowerer.BuildCameraObservationFrame([buffer]);
var windows = new List<MimirRollingStreamWindow>();
MimirFensalirBridgeMapper.MapWindows([buffer], windows);
var stereoFrame = lowerer.BuildLeapPackedStereoDepthCandidateFrame(windows, cameraFrame.Resources);
var pointCloudFrame = lowerer.BuildLeapPackedStereoPointCloudCandidateFrame(windows);
var mergedResources = stereoFrame.Resources
.Concat(pointCloudFrame.Resources)
.Where(static resource => resource.HasIdentity)
.GroupBy(static resource => resource.ResourceKey, StringComparer.Ordinal)
.Select(static group => group.First())
.ToArray();
var merged = new AquariumFieldEvidenceFrame
{
Domains = [.. stereoFrame.Domains, .. pointCloudFrame.Domains],
Claims = [.. stereoFrame.Claims, .. pointCloudFrame.Claims],
Candidates = [.. stereoFrame.Candidates, .. pointCloudFrame.Candidates],
Resources = mergedResources,
StereoDepthLowerings = stereoFrame.StereoDepthLowerings,
AccumulationWindowSeconds = cameraFrame.AccumulationWindowSeconds,
PresentationDelaySeconds = cameraFrame.PresentationDelaySeconds
};
var validation = AquariumFieldEvidenceValidator.Validate(merged);
var plan = AquariumFieldLoweringPlanner.Plan(merged);
var profile = MimirPointCloudConfigurations.LeapDisparityPointCloudRoot;
var pointResource = pointCloudFrame.Resources.FirstOrDefault(resource =>
string.Equals(resource.ResourceKey, "mimir:resource:point-cloud:leap-stereo-ir:leap-points", StringComparison.Ordinal));
var pointClaim = pointCloudFrame.Claims.FirstOrDefault();
var meshPacket = plan.Packets.FirstOrDefault(packet => packet.Backend == AquariumFieldBackendKind.Mesh);
var stereoPacket = plan.Packets.FirstOrDefault(packet => packet.Backend == AquariumFieldBackendKind.SurfacePage);
Console.WriteLine(
$"leap-point-cloud-root profile={profile.Id} provenance={profile.Provenance} liveDependency={profile.LiveDependency} stride={profile.DefaultSampleStride} baseline={profile.BaselineMeters:0.###} focal={profile.FocalLengthPixels:0.###}");
Console.WriteLine(
$"leap-point-cloud-root-field resources={merged.Resources.Count} pointResources={pointCloudFrame.Resources.Count} claims={pointCloudFrame.Claims.Count} planned={plan.Packets.Count} deferred={plan.DeferredRequests.Count} errors={validation.HasErrors}");
Console.WriteLine(
$"leap-point-cloud-root-output resource={pointResource.ResourceKey} kind={pointResource.Kind} topology={pointResource.Mesh.Topology} layout={pointResource.Mesh.Layout} vertices={pointResource.Mesh.Vertices.Count} indices={pointResource.Mesh.Indices.Count} source={pointResource.SourceUri} backend={meshPacket.Backend}");
return !validation.HasErrors &&
!profile.LiveDependency &&
profile.ProjectionKind == MimirPointCloudProjectionKind.StereoDisparityProjection &&
profile.NegativeChecks.Any(check => check.Contains("no synthetic point cloud", StringComparison.OrdinalIgnoreCase)) &&
pointCloudFrame.Resources.Count == 1 &&
pointCloudFrame.Claims.Count == 1 &&
pointClaim.Encoding == AquariumFieldEncoding.Mesh &&
pointClaim.PayloadHandle == pointResource.ResourceKey &&
pointClaim.ProducerKey == profile.Id &&
pointResource.Kind == AquariumFieldResourceKind.Mesh &&
pointResource.Mesh.Topology == AquariumFieldMeshTopology.PointList &&
pointResource.Mesh.Layout == AquariumFieldMeshLayout.PositionNormalUvColor &&
pointResource.Mesh.Vertices.Count == 320 * 120 &&
pointResource.Mesh.Indices.Count == pointResource.Mesh.Vertices.Count &&
pointResource.SourceUri == "derived-from:mimir:resource:stereo-depth:leap-stereo-ir:disparity-r16f" &&
stereoPacket.Backend == AquariumFieldBackendKind.SurfacePage &&
meshPacket.Backend == AquariumFieldBackendKind.Mesh &&
plan.DeferredRequests.Count == 0
? 0
: 1;
}
static int RunPerfectMachineProfileSmoke()
{
var profiles = MimirPerfectMachineProfiles.All;